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<div class="title">elch.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_ELCH_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_ELCH_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/registration.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/boost.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/eigen.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/icp.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/boost_graph.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html">   62</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html">ELCH</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt; ELCH&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt; const ELCH&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_e_l_c_h_1_1_vertex.html">   72</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1registration_1_1_e_l_c_h_1_1_vertex.html">Vertex</a></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_e_l_c_h_1_1_vertex.html">Vertex</a> () : cloud () {}</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;          PointCloudPtr cloud;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          Eigen::Affine3f transform;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        };</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keyword">typedef</span> boost::adjacency_list&lt;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;          boost::listS, <a class="code" href="structboost_1_1eigen__vec_s.html">boost::eigen_vecS</a>, boost::undirectedS,</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_e_l_c_h_1_1_vertex.html">Vertex</a>,</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          boost::no_property&gt;</div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#ac5262f9b7301989c89d3c6ea628954ed">   84</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#ac5262f9b7301989c89d3c6ea628954ed">LoopGraph</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt; LoopGraph &gt; LoopGraphPtr;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_registration.html">pcl::Registration&lt;PointT, PointT&gt;</a> <a class="code" href="classpcl_1_1_registration.html">Registration</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> Registration::Ptr RegistrationPtr;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> Registration::ConstPtr RegistrationConstPtr;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#adc8c0093e2af4d1b0260d3231ba1d9fa">   93</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#adc8c0093e2af4d1b0260d3231ba1d9fa">ELCH</a> () : </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a765f76380bd81395ffa7005f5ba3d26a">loop_graph_</a> (new <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#ac5262f9b7301989c89d3c6ea628954ed">LoopGraph</a>), </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a5bb88c947d3d707860e190bca8dd6145">loop_start_</a> (0), </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a2dc3fbc4ade3cec41a51dcad5b48bc9f">loop_end_</a> (0), </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#ad4b077d5a0316854d36b60445a24ed04">reg_</a> (new pcl::<a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;), </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a86e5a885395ad3ff976024ea0df182df">loop_transform_</a> (),</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;          compute_loop_ (true),</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#aae244e5b9495652a8abd1e4ab3c2b4d2">vd_</a> ()</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        {};</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      </div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#a640526e542ee140bad08e1316082e5ac">  104</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a640526e542ee140bad08e1316082e5ac">~ELCH</a> () {}</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#a699aeed821928a76785e198ebb0ad978">  110</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a699aeed821928a76785e198ebb0ad978">addPointCloud</a> (PointCloudPtr cloud)</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          <span class="keyword">typename</span> boost::graph_traits&lt;LoopGraph&gt;::vertex_descriptor vd = add_vertex (*<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a765f76380bd81395ffa7005f5ba3d26a">loop_graph_</a>);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;          (*loop_graph_)[vd].cloud = cloud;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          <span class="keywordflow">if</span> (num_vertices (*<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a765f76380bd81395ffa7005f5ba3d26a">loop_graph_</a>) &gt; 1)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            add_edge (<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#aae244e5b9495652a8abd1e4ab3c2b4d2">vd_</a>, vd, *<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a765f76380bd81395ffa7005f5ba3d26a">loop_graph_</a>);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#aae244e5b9495652a8abd1e4ab3c2b4d2">vd_</a> = vd;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keyword">inline</span> LoopGraphPtr</div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#aed4786817a1069116b02cdccd723e6df">  121</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#aed4786817a1069116b02cdccd723e6df">getLoopGraph</a> ()</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        {</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a765f76380bd81395ffa7005f5ba3d26a">loop_graph_</a>);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#a6ec78cd27b7ad849037410127c874459">  130</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a6ec78cd27b7ad849037410127c874459">setLoopGraph</a> (LoopGraphPtr loop_graph)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        {</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a765f76380bd81395ffa7005f5ba3d26a">loop_graph_</a> = loop_graph;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keyword">inline</span> <span class="keyword">typename</span> boost::graph_traits&lt;LoopGraph&gt;::vertex_descriptor</div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#a1ce713b789a94fc11630ee513e6af108">  137</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a1ce713b789a94fc11630ee513e6af108">getLoopStart</a> ()</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a5bb88c947d3d707860e190bca8dd6145">loop_start_</a>);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#a70c81e9d0a73cdc9a85769467bd5c9d8">  146</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a70c81e9d0a73cdc9a85769467bd5c9d8">setLoopStart</a> (<span class="keyword">const</span> <span class="keyword">typename</span> boost::graph_traits&lt;LoopGraph&gt;::vertex_descriptor &amp;loop_start)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a5bb88c947d3d707860e190bca8dd6145">loop_start_</a> = loop_start;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="keyword">inline</span> <span class="keyword">typename</span> boost::graph_traits&lt;LoopGraph&gt;::vertex_descriptor</div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#a326a4b3e5b6a9694f50fe6d29e00360f">  153</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a326a4b3e5b6a9694f50fe6d29e00360f">getLoopEnd</a> ()</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        {</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a2dc3fbc4ade3cec41a51dcad5b48bc9f">loop_end_</a>);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#a50e55522983f1b6860d8a0e22d4e5f2f">  162</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a50e55522983f1b6860d8a0e22d4e5f2f">setLoopEnd</a> (<span class="keyword">const</span> <span class="keyword">typename</span> boost::graph_traits&lt;LoopGraph&gt;::vertex_descriptor &amp;loop_end)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a2dc3fbc4ade3cec41a51dcad5b48bc9f">loop_end_</a> = loop_end;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keyword">inline</span> RegistrationPtr</div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#ae4fc9763a545b697bbf74d35e677519d">  169</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#ae4fc9763a545b697bbf74d35e677519d">getReg</a> ()</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#ad4b077d5a0316854d36b60445a24ed04">reg_</a>);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#a9a6b424362d615b4a6a59d4b6c171ce2">  178</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a9a6b424362d615b4a6a59d4b6c171ce2">setReg</a> (RegistrationPtr reg)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#ad4b077d5a0316854d36b60445a24ed04">reg_</a> = reg;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="keyword">inline</span> Eigen::Matrix4f</div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#a40c41eea3ca6953511d37a849f077c17">  185</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a40c41eea3ca6953511d37a849f077c17">getLoopTransform</a> ()</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a86e5a885395ad3ff976024ea0df182df">loop_transform_</a>);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#a209e59992fbbea574ce1a1f09078a77e">  194</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a209e59992fbbea574ce1a1f09078a77e">setLoopTransform</a> (<span class="keyword">const</span> Eigen::Matrix4f &amp;loop_transform)</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        {</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a86e5a885395ad3ff976024ea0df182df">loop_transform_</a> = loop_transform;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          compute_loop_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#aff1f479c129f89d570541f6cce3307a1">compute</a> ();</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#af10218ba848a4d12862b95205c28f423">initCompute</a> ();</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <span class="keyword">typedef</span> boost::adjacency_list&lt;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;          boost::listS, boost::vecS, boost::undirectedS,</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;          boost::no_property,</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;          boost::property&lt; boost::edge_weight_t, double &gt; &gt;</div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#af98b2995f77aa977ef442e8619e8c873">  220</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#af98b2995f77aa977ef442e8619e8c873">LOAGraph</a>;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#af1f07eb24a5f59b081521a5cf7350895">loopOptimizerAlgorithm</a> (<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#af98b2995f77aa977ef442e8619e8c873">LOAGraph</a> &amp;g, <span class="keywordtype">double</span> *weights);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#a765f76380bd81395ffa7005f5ba3d26a">  233</a></span>&#160;        LoopGraphPtr <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a765f76380bd81395ffa7005f5ba3d26a">loop_graph_</a>;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#a5bb88c947d3d707860e190bca8dd6145">  236</a></span>&#160;        <span class="keyword">typename</span> boost::graph_traits&lt;LoopGraph&gt;::vertex_descriptor <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a5bb88c947d3d707860e190bca8dd6145">loop_start_</a>;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#a2dc3fbc4ade3cec41a51dcad5b48bc9f">  239</a></span>&#160;        <span class="keyword">typename</span> boost::graph_traits&lt;LoopGraph&gt;::vertex_descriptor <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a2dc3fbc4ade3cec41a51dcad5b48bc9f">loop_end_</a>;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#ad4b077d5a0316854d36b60445a24ed04">  242</a></span>&#160;        RegistrationPtr <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#ad4b077d5a0316854d36b60445a24ed04">reg_</a>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#a86e5a885395ad3ff976024ea0df182df">  245</a></span>&#160;        Eigen::Matrix4f <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a86e5a885395ad3ff976024ea0df182df">loop_transform_</a>;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <span class="keywordtype">bool</span> compute_loop_;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_e_l_c_h.html#aae244e5b9495652a8abd1e4ab3c2b4d2">  249</a></span>&#160;        <span class="keyword">typename</span> boost::graph_traits&lt;LoopGraph&gt;::vertex_descriptor <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#aae244e5b9495652a8abd1e4ab3c2b4d2">vd_</a>;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    };</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  }</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;}</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/elch.hpp&gt;</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_ELCH_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html">pcl::IterativeClosestPoint</a></div><div class="ttdoc">IterativeClosestPoint provides a base implementation of the Iterative Closest Point algorithm....</div><div class="ttdef"><b>Definition:</b> icp.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html"><div class="ttname"><a href="classpcl_1_1_registration.html">pcl::Registration&lt; PointT, PointT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html">pcl::registration::ELCH</a></div><div class="ttdoc">ELCH (Explicit Loop Closing Heuristic) class</div><div class="ttdef"><b>Definition:</b> elch.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a1ce713b789a94fc11630ee513e6af108"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a1ce713b789a94fc11630ee513e6af108">pcl::registration::ELCH::getLoopStart</a></div><div class="ttdeci">boost::graph_traits&lt; LoopGraph &gt;::vertex_descriptor getLoopStart()</div><div class="ttdoc">Getter for the first scan of a loop.</div><div class="ttdef"><b>Definition:</b> elch.h:137</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a209e59992fbbea574ce1a1f09078a77e"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a209e59992fbbea574ce1a1f09078a77e">pcl::registration::ELCH::setLoopTransform</a></div><div class="ttdeci">void setLoopTransform(const Eigen::Matrix4f &amp;loop_transform)</div><div class="ttdoc">Setter for the transformation between the first and the last scan.</div><div class="ttdef"><b>Definition:</b> elch.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a2dc3fbc4ade3cec41a51dcad5b48bc9f"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a2dc3fbc4ade3cec41a51dcad5b48bc9f">pcl::registration::ELCH::loop_end_</a></div><div class="ttdeci">boost::graph_traits&lt; LoopGraph &gt;::vertex_descriptor loop_end_</div><div class="ttdoc">The last scan of the loop.</div><div class="ttdef"><b>Definition:</b> elch.h:239</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a326a4b3e5b6a9694f50fe6d29e00360f"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a326a4b3e5b6a9694f50fe6d29e00360f">pcl::registration::ELCH::getLoopEnd</a></div><div class="ttdeci">boost::graph_traits&lt; LoopGraph &gt;::vertex_descriptor getLoopEnd()</div><div class="ttdoc">Getter for the last scan of a loop.</div><div class="ttdef"><b>Definition:</b> elch.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a40c41eea3ca6953511d37a849f077c17"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a40c41eea3ca6953511d37a849f077c17">pcl::registration::ELCH::getLoopTransform</a></div><div class="ttdeci">Eigen::Matrix4f getLoopTransform()</div><div class="ttdoc">Getter for the transformation between the first and the last scan.</div><div class="ttdef"><b>Definition:</b> elch.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a50e55522983f1b6860d8a0e22d4e5f2f"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a50e55522983f1b6860d8a0e22d4e5f2f">pcl::registration::ELCH::setLoopEnd</a></div><div class="ttdeci">void setLoopEnd(const typename boost::graph_traits&lt; LoopGraph &gt;::vertex_descriptor &amp;loop_end)</div><div class="ttdoc">Setter for the last scan of a loop.</div><div class="ttdef"><b>Definition:</b> elch.h:162</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a5bb88c947d3d707860e190bca8dd6145"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a5bb88c947d3d707860e190bca8dd6145">pcl::registration::ELCH::loop_start_</a></div><div class="ttdeci">boost::graph_traits&lt; LoopGraph &gt;::vertex_descriptor loop_start_</div><div class="ttdoc">The first scan of the loop.</div><div class="ttdef"><b>Definition:</b> elch.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a640526e542ee140bad08e1316082e5ac"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a640526e542ee140bad08e1316082e5ac">pcl::registration::ELCH::~ELCH</a></div><div class="ttdeci">virtual ~ELCH()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> elch.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a699aeed821928a76785e198ebb0ad978"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a699aeed821928a76785e198ebb0ad978">pcl::registration::ELCH::addPointCloud</a></div><div class="ttdeci">void addPointCloud(PointCloudPtr cloud)</div><div class="ttdoc">Add a new point cloud to the internal graph.</div><div class="ttdef"><b>Definition:</b> elch.h:110</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a6ec78cd27b7ad849037410127c874459"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a6ec78cd27b7ad849037410127c874459">pcl::registration::ELCH::setLoopGraph</a></div><div class="ttdeci">void setLoopGraph(LoopGraphPtr loop_graph)</div><div class="ttdoc">Setter for a new internal graph.</div><div class="ttdef"><b>Definition:</b> elch.h:130</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a70c81e9d0a73cdc9a85769467bd5c9d8"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a70c81e9d0a73cdc9a85769467bd5c9d8">pcl::registration::ELCH::setLoopStart</a></div><div class="ttdeci">void setLoopStart(const typename boost::graph_traits&lt; LoopGraph &gt;::vertex_descriptor &amp;loop_start)</div><div class="ttdoc">Setter for the first scan of a loop.</div><div class="ttdef"><b>Definition:</b> elch.h:146</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a765f76380bd81395ffa7005f5ba3d26a"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a765f76380bd81395ffa7005f5ba3d26a">pcl::registration::ELCH::loop_graph_</a></div><div class="ttdeci">LoopGraphPtr loop_graph_</div><div class="ttdoc">The internal loop graph.</div><div class="ttdef"><b>Definition:</b> elch.h:233</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a86e5a885395ad3ff976024ea0df182df"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a86e5a885395ad3ff976024ea0df182df">pcl::registration::ELCH::loop_transform_</a></div><div class="ttdeci">Eigen::Matrix4f loop_transform_</div><div class="ttdoc">The transformation between that start and end of the loop.</div><div class="ttdef"><b>Definition:</b> elch.h:245</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a9a6b424362d615b4a6a59d4b6c171ce2"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a9a6b424362d615b4a6a59d4b6c171ce2">pcl::registration::ELCH::setReg</a></div><div class="ttdeci">void setReg(RegistrationPtr reg)</div><div class="ttdoc">Setter for the registration algorithm.</div><div class="ttdef"><b>Definition:</b> elch.h:178</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_aae244e5b9495652a8abd1e4ab3c2b4d2"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#aae244e5b9495652a8abd1e4ab3c2b4d2">pcl::registration::ELCH::vd_</a></div><div class="ttdeci">boost::graph_traits&lt; LoopGraph &gt;::vertex_descriptor vd_</div><div class="ttdoc">previously added node in the loop_graph_.</div><div class="ttdef"><b>Definition:</b> elch.h:249</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_ac5262f9b7301989c89d3c6ea628954ed"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#ac5262f9b7301989c89d3c6ea628954ed">pcl::registration::ELCH::LoopGraph</a></div><div class="ttdeci">boost::adjacency_list&lt; boost::listS, boost::eigen_vecS, boost::undirectedS, Vertex, boost::no_property &gt; LoopGraph</div><div class="ttdoc">graph structure to hold the SLAM graph</div><div class="ttdef"><b>Definition:</b> elch.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_ad4b077d5a0316854d36b60445a24ed04"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#ad4b077d5a0316854d36b60445a24ed04">pcl::registration::ELCH::reg_</a></div><div class="ttdeci">RegistrationPtr reg_</div><div class="ttdoc">The registration object used to close the loop.</div><div class="ttdef"><b>Definition:</b> elch.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_adc8c0093e2af4d1b0260d3231ba1d9fa"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#adc8c0093e2af4d1b0260d3231ba1d9fa">pcl::registration::ELCH::ELCH</a></div><div class="ttdeci">ELCH()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> elch.h:93</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_ae4fc9763a545b697bbf74d35e677519d"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#ae4fc9763a545b697bbf74d35e677519d">pcl::registration::ELCH::getReg</a></div><div class="ttdeci">RegistrationPtr getReg()</div><div class="ttdoc">Getter for the registration algorithm.</div><div class="ttdef"><b>Definition:</b> elch.h:169</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_aed4786817a1069116b02cdccd723e6df"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#aed4786817a1069116b02cdccd723e6df">pcl::registration::ELCH::getLoopGraph</a></div><div class="ttdeci">LoopGraphPtr getLoopGraph()</div><div class="ttdoc">Getter for the internal graph.</div><div class="ttdef"><b>Definition:</b> elch.h:121</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_af10218ba848a4d12862b95205c28f423"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#af10218ba848a4d12862b95205c28f423">pcl::registration::ELCH::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> elch.hpp:158</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_af1f07eb24a5f59b081521a5cf7350895"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#af1f07eb24a5f59b081521a5cf7350895">pcl::registration::ELCH::loopOptimizerAlgorithm</a></div><div class="ttdeci">void loopOptimizerAlgorithm(LOAGraph &amp;g, double *weights)</div><div class="ttdef"><b>Definition:</b> elch.hpp:54</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_af98b2995f77aa977ef442e8619e8c873"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#af98b2995f77aa977ef442e8619e8c873">pcl::registration::ELCH::LOAGraph</a></div><div class="ttdeci">boost::adjacency_list&lt; boost::listS, boost::vecS, boost::undirectedS, boost::no_property, boost::property&lt; boost::edge_weight_t, double &gt; &gt; LOAGraph</div><div class="ttdoc">graph structure for the internal optimization graph</div><div class="ttdef"><b>Definition:</b> elch.h:220</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_aff1f479c129f89d570541f6cce3307a1"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#aff1f479c129f89d570541f6cce3307a1">pcl::registration::ELCH::compute</a></div><div class="ttdeci">void compute()</div><div class="ttdoc">Computes new poses for all point clouds by closing the loop between start and end point cloud....</div><div class="ttdef"><b>Definition:</b> elch.hpp:218</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructboost_1_1eigen__vec_s_html"><div class="ttname"><a href="structboost_1_1eigen__vec_s.html">boost::eigen_vecS</a></div><div class="ttdef"><b>Definition:</b> boost_graph.h:51</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_e_l_c_h_1_1_vertex_html"><div class="ttname"><a href="structpcl_1_1registration_1_1_e_l_c_h_1_1_vertex.html">pcl::registration::ELCH::Vertex</a></div><div class="ttdef"><b>Definition:</b> elch.h:73</div></div>
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